Inhalt des Dokuments

Open Theses

Robotics Related

Environment Design in Motion Planning [1]

Exploiting the environment is useful to reduce robot state
uncertainty due to very reliable force feedback. Therefore, we
extended an RRT based motion planner with motion actions which allow
the planner to make contact with the environment. This raised the
importance of actual shape and availability of environment features to
enable contacts. A first environment design algorithm has been
developed that iteratively adds new environment features to a given
scene. To do so, the algorithm detects and models areas of high
uncertainty to then constructs and places landmarks into the uncertain
areas.
more to: Environment Design in
Motion Planning [2]

Computational Biology
Related

Leveraging Data from Mass Spectrometry to Improve Cross-Links
[3]

Cross-Links are experimentally derived distance constraints that
can be used to guide protein structure prediction. The current
cross-linking data is obtained from multiple mass spectrometer runs
and pre-filtered. In the pre-fltering step we lose a lot of
information. For instance, there is ambiguity in the data that is
currently handled in a greedy fashion. The idea of this project is to
go one step back and look at the "raw" data from the mass spectrometry
experiments. The hope is by including external information and dealing
directly with the ambiguity in the data we can improve the number of
cross-links and/or need fewer experiments for a similar yield.
more to: Leveraging Data from
Mass Spectrometry to Improve Cross-Links [4]

Leveraging Crosslinks for Template Retrieval [5]

Cross-Link Mass Spectometry is an experimental technique that
provides residue distance constraints on the native structure. The
method has been previously used to guide ab initio protein structure
prediction. You will develop in this thesis a method that leverages
cross-links to find homologous structures to the target in the PDB.
For that, you will compare the distance constraints provided by
cross-links with simulated cross-links for the templates from the PDB.
more to: Leveraging Crosslinks
for Template Retrieval [6]